CN108387246A - Multinode distribution space-time datum method and apparatus - Google Patents
Multinode distribution space-time datum method and apparatus Download PDFInfo
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- CN108387246A CN108387246A CN201810153928.1A CN201810153928A CN108387246A CN 108387246 A CN108387246 A CN 108387246A CN 201810153928 A CN201810153928 A CN 201810153928A CN 108387246 A CN108387246 A CN 108387246A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of multinode distribution space-time datum methods, first, measure child node angular speed and specific force using ten three-axis integrative optical fibre gyro SIMU, using multinode relative spatial information calculation method, calculate child node relative movement parameters.Relative spatial information error equation is established simultaneously, and determines system state equation.Then, flexible lever arm deformation data is resolved using the flexible base line measurement component based on fiber grating/polyphaser, utilize the high precision position of high-precision photon crystal optical fiber gyroscope MPOS outputs, posture, it builds system quantities to measure, the local state that each three-axis integrative optical fibre gyro SIMU is obtained by Transfer Alignment is estimated.Finally, using global information fusion method, the accurate measurement of multinode space-time datum is realized.The invention also discloses a kind of multinode distribution space-time datum devices.
Description
Technical field
The present invention relates to field of measuring technique, in particular to a kind of multinode distribution space-time datum method and dress
It sets.
Background technology
The novel air remote sensing system of integrated more imaging load will realize ultrahigh resolution movement imaging, depend critically upon
The space-time datums such as multinode position, speed, posture on flexible baseline and relative spatial information carry out motion compensation.Such as array
Antenna three-dimensional synthetic aperture radar (SAR) performance is higher, it is desirable that the antenna number being distributed on flexible wing is more, space
Baseline is longer.By fitful wind, platform be motor-driven etc., multi-sources disturbing influence, flexible wing generate multimode deflection deformation and trembling coupling fortune
Dynamic, the peak swing of part of nodes is up to 10 degree or so up to meter level, deflection deformation angle, and flexible baseline effect is notable.It is existing to grind
The high precision position attitude system (POS) studied carefully can not while accurately measure the space-time datum letter of multiple nodes on flexible baseline
Breath requires extremely harshness to SIMU volume mass additionally, due to array antenna SAR, also can not install one in each SAR antennas
High-precision POS with high costs is covered, and cannot be satisfied relative position measurement accuracy requirement between each node.Therefore, multinode is distributed
Formula space-time datum system has become the key equipment for ensureing novel super-high resolution ratio air remote sensing system imaging precision and efficiency.
Invention content
In order to solve in the prior art, flexible baseline effect leads to transfer alignment measurement information error, and flexible baseline
Effect leads to multi-sensor information fusion problem, and an embodiment of the present invention provides a kind of multinode distribution space-time datum methods
And device, existing high precision position attitude system is compared, the multinode task being distributed on flexible lever arm can be accurately obtained and carry
Lotus space-time datum and relative spatial information.
In a first aspect, an embodiment of the present invention provides a kind of multinode distribution space-time datum method, including following step
Suddenly：Child node relative movement parameters are calculated by multinode relative spatial information calculation method；Establish relative spatial information error
Equation, and determine system state equation；Flexible link is resolved by the flexible base line measurement component based on fiber grating or polyphaser
Arm deformation data；By the photon crystal optical fiber gyroscope MPOS location informations exported and posture information, system measurements side is established
Journey, and estimated by the local state of Transfer Alignment acquisition three-axis integrative optical fibre gyro SIMU；Pass through flexible lever arm flex motion
The correlation of motion state in each node time-space domain of model construction；By global information fusion method, realize to flexible lever arm
The accurate measurement of multinode distribution space-time datum.
Further include in one of the embodiments,：By three-axis integrative optical fibre gyro SIMU measure child node angular speed and
Specific force.
The multinode relative spatial information calculation method in one of the embodiments, including：The relative attitude
Renewal equationRelative position renewal equationRelative velocity renewal equationIn formulaFor relative attitude matrixSingle order
Derivative,For the rotation angular speed of photon crystal optical fiber gyroscope MPOS carrier coordinate system relative inertness coordinate systems,For three axis
The rotation angular speed of integrated optical fibre gyro SIMU carrier coordinate systems relative inertness coordinate system,For relative positionSingle order lead
Number,For relative velocityFirst derivative,For three-axis integrative optical fibre gyro SIMU specific forces,For photonic crystal fiber
Gyro MPOS specific forces.
The relative spatial information error approach in one of the embodiments, including：Relative attitude error equationThe relative position error equationRelative velocity error equationIn formulaFor light
Photonic crystal fiber gyro MPOS calculates the deflecting angle first derivative of carrier coordinate system m ' and m systems, δ KG, δ G be respectively three-axis integrative
Optical fibre gyro scale coefficient error and installation error coefficient,It drifts about for three-axis integrative optical fibre gyro, δ rms、δvmsRespectively phase
To site error, relative velocity error, δ KA×, δ A × is respectively accelerometer scale coefficient error and installation error coefficient,For accelerometer bias.
Second aspect, an embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Computer program is stored on medium, the computer program realizes the multinode of above-mentioned first aspect when being executed by processor
Distributed space-time datum method.
The third aspect, an embodiment of the present invention provides a kind of computer program products including instruction, when the computer journey
When sequence product is run on computers so that computer executes the method described in above-mentioned first aspect.
Fourth aspect, an embodiment of the present invention provides a kind of multinode distribution space-time datum devices, including：First solution
Module is calculated, for calculating child node relative movement parameters by multinode relative spatial information calculation method；First establishing equation
Module for establishing relative spatial information error equation, and determines system state equation；Second resolves module, for passing through base
Flexible lever arm deformation data is resolved in the flexible base line measurement component of fiber grating or polyphaser；Second equation establishes module, uses
In the location information and posture information that are exported by photon crystal optical fiber gyroscope MPOS, system measurements equation is established, and passes through biography
Pass the local state estimation that alignment obtains three-axis integrative optical fibre gyro SIMU；Module is built, for being bent by flexible lever arm
Motion model builds the correlation of motion state in each node time-space domain；Measurement module, for passing through global information fusion side
Method realizes the accurate measurement to flexible lever arm multinode distribution space-time datum.
Further include in one of the embodiments,：Prediction module, for being measured by three-axis integrative optical fibre gyro SIMU
Child node angular speed and specific force.
The multinode relative spatial information calculation method in one of the embodiments, including：The relative attitude
Renewal equationRelative position renewal equationRelative velocity renewal equationIn formulaFor relative attitude matrixSingle order
Derivative,For the rotation angular speed of photon crystal optical fiber gyroscope MPOS carrier coordinate system relative inertness coordinate systems,For three axis
The rotation angular speed of integrated optical fibre gyro SIMU carrier coordinate systems relative inertness coordinate system,For relative positionSingle order lead
Number,For relative velocityFirst derivative,For three-axis integrative optical fibre gyro SIMU specific forces,For photonic crystal fiber
Gyro MPOS specific forces.
The relative spatial information error approach in one of the embodiments, including：
Relative attitude error equationThe relative position error equation
Relative velocity error equation
In formulaThe deflecting angle first derivative of carrier coordinate system m ' and m systems, δ K are calculated for photon crystal optical fiber gyroscope MPOSG、δG
Respectively three-axis integrative optical fibre gyro scale coefficient error and installation error coefficient,It drifts about for three-axis integrative optical fibre gyro, δ
rms、δvmsRespectively the relative position error, relative velocity error, δ KA×, δ A × be respectively accelerometer scale coefficient error with
Installation error coefficient,For accelerometer bias.
A kind of multinode distribution space-time datum method and apparatus provided by the invention measure son section first with SIMU
Point angular speed and specific force calculate child node relative movement parameters using multinode relative spatial information calculation method.Then, make
Flexible lever arm deformation data, the height exported using MPOS are resolved with the flexible base line measurement component based on fiber grating/polyphaser
Precision position, posture, structure system quantities measure, and the local state that SIMU is obtained by Transfer Alignment is estimated.Finally, using complete
Office's information fusion method, realizes the accurate measurement of multinode space-time datum.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described：
Fig. 1 is the step flow chart of the multinode distribution space-time datum method of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the multinode distribution space-time datum device of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of the multinode distribution space-time datum device of one embodiment of the invention；And
Fig. 4 is that the multinode relative position in the multinode distribution space-time datum device of one embodiment of the invention is shown
It is intended to.
Specific implementation mode
The application is further discussed in detail with reference to the accompanying drawings and examples.
In following introductions, term " first ", " second " be only for descriptive purposes, and should not be understood as instruction or
Imply relative importance.Following introductions provide multiple embodiments of the present invention, can replace or close between different embodiments
And combine, therefore the application is it is also contemplated that include all possible combinations of recorded identical and/or different embodiment.Thus,
If one embodiment includes feature A, B, C, another embodiment includes feature B, D, then the application also should be regarded as including containing
The embodiment for having the every other possible combination of one or more of A, B, C, D, although the embodiment may be not following
There is specific literature record in content.
Flexible baseline effect leads to transfer alignment measurement information error：In existing rigidity baseline Transfer Alignment state equation
Flexible lubber line error item is not accounted for, can not accurately estimate, compensate time-varying flexure variable quantity, seriously affect relative spatial information
Measurement accuracy；Existing measurement equation does not compensate flexible lubber line error, prevents the high-precision time space measure information of MPOS from essence
Really pass to SIMU, cause estimated accuracy decline in addition partial status amount diverging.In addition, flexible baseline effect leads to pass more
Sensor information merges problem：The purpose of existing inertia/GPS combinations or Transfer Alignment filtering estimation is to a certain local nodes
State estimation is carried out, multinode observation information is not made full use of；And rigid baseline multiple sensor information amalgamation method can not
It solves the problems, such as that dynamic time-varying flexibility baseline inertance network information merges, flexible baseline profile formula POS precise informations cannot be met
Fusion demand.
The present invention relates to field of measuring technique, in particular to a kind of multinode distribution space-time datum method and dress
It sets.Distributed location attitude measurement system is can be applied to, inertance network collaborative navigation can also be applied to, INS/GPS is combined
The flexible baseline distortion measurement of navigation system, Transfer Alignment.
As shown in Figure 1, for a kind of flow diagram of multinode distribution space-time datum method in one embodiment,
Specifically include following steps：
Step 101, child node relative movement parameters are calculated by multinode relative spatial information calculation method.
Step 102, relative spatial information error equation is established, and determines system state equation.
Step 103, flexible lever arm deformation letter is resolved by the flexible base line measurement component based on fiber grating or polyphaser
Breath.
Step 104, by the photon crystal optical fiber gyroscope MPOS location informations exported and posture information, system quantities are established
Equation is surveyed, and obtains the local state estimation of three-axis integrative optical fibre gyro SIMU by Transfer Alignment.
Step 105, pass through the correlation of motion state in each node time-space domain of flexible lever arm flex motion model construction.
Step 106, by global information fusion method, the essence to flexible lever arm multinode distribution space-time datum is realized
Really measure.
In the present embodiment, multinode relative spatial information calculation method, including：Relative attitude renewal equationRelative position renewal equationRelative velocity renewal equationIn formulaFor relative attitude matrixSingle order lead
Number,For the rotation angular speed of photon crystal optical fiber gyroscope MPOS carrier coordinate system relative inertness coordinate systems,For three axis one
The rotation angular speed of body optical fibre gyro SIMU carrier coordinate system relative inertness coordinate systems,For relative positionSingle order lead
Number,For relative velocityFirst derivative,For three-axis integrative optical fibre gyro SIMU specific forces,For photonic crystal fiber
Gyro MPOS specific forces.
Moreover, relative spatial information error approach, including：Relative attitude error equationThe relative position error equationRelative velocity error equationIn formulaFor light
Photonic crystal fiber gyro MPOS calculates the deflecting angle first derivative of carrier coordinate system m ' and m systems, δ KG, δ G be respectively three-axis integrative
Optical fibre gyro scale coefficient error and installation error coefficient,It drifts about for three-axis integrative optical fibre gyro, δ rms、δvmsRespectively phase
To site error, relative velocity error, δ KA×, δ A × is respectively accelerometer scale coefficient error and installation error coefficient,For accelerometer bias.
In addition, in one embodiment, the multinode distribution space-time datum device of the disclosure further includes：By a set of
The host node high precision position information and posture information that photon crystal optical fiber gyroscope MPOS is measured, ten three-axis integrative optical fiber tops
Spiral shell SIMU measures child node angular speed and specific force.
A kind of multinode distribution space-time datum method provided by the invention utilizes ten three-axis integrative optical fiber tops first
Spiral shell SIMU measures child node angular speed and specific force, using multinode relative spatial information calculation method, calculates the opposite fortune of child node
Dynamic parameter.Relative spatial information error equation is established simultaneously, and determines system state equation.Then, using based on optical fiber light
The flexible base line measurement component of grid/polyphaser resolves flexible lever arm deformation data, utilizes high-precision photon crystal optical fiber gyroscope
The high precision position of MPOS outputs, posture, structure system quantities measure, and each three-axis integrative optical fibre gyro is obtained by Transfer Alignment
The local state of SIMU is estimated.Finally, using global information fusion method, the accurate measurement of multinode space-time datum is realized.
Based on same inventive concept, a kind of multinode distribution space-time datum device is additionally provided.Since multinode is distributed
The principle that formula space-time datum device solves the problems, such as is similar to a kind of aforementioned multinode distribution space-time datum method, and therefore, this is more
The implementation of Node distribution formula space-time datum device can be according to the specific steps time limit of preceding method, and overlaps will not be repeated.
As shown in Fig. 2, for a kind of structural schematic diagram of multinode distribution space-time datum device in one embodiment.
Specifically, multinode distribution space-time datum device includes：First, which resolves module 100, is used to pass through multinode phase
Child node relative movement parameters are calculated to spatial information calculation method；First establishing equation module 200 is for establishing space
Information error equation, and determine system state equation；Second, which resolves module 300, is used for by being based on fiber grating or polyphaser
Flexible base line measurement component resolve flexible lever arm deformation data；Second equation establish module 400 for pass through photonic crystal light
The location information and posture information of fine gyro MPOS outputs establish system measurements equation, and obtain three axis one by Transfer Alignment
The local state of body optical fibre gyro SIMU is estimated；Module 500 is built for each by flexible lever arm flex motion model construction
The correlation of motion state in node time-space domain；Measurement module 600 is used to, by global information fusion method, realize to flexibility
The accurate measurement of lever arm multinode distribution space-time datum.
In the present embodiment, multinode relative spatial information calculation method, including：Relative attitude renewal equationRelative position renewal equationRelative velocity renewal equationIn formulaFor relative attitude matrixSingle order
Derivative,For the rotation angular speed of photon crystal optical fiber gyroscope MPOS carrier coordinate system relative inertness coordinate systems,For three axis
The rotation angular speed of integrated optical fibre gyro SIMU carrier coordinate systems relative inertness coordinate system,For relative positionSingle order lead
Number,For relative velocityFirst derivative,For three-axis integrative optical fibre gyro SIMU specific forces,For photonic crystal fiber
Gyro MPOS specific forces.
In addition, relative spatial information error approach, including：Relative attitude error equationThe relative position error equationRelative velocity error equationIn formulaFor light
Photonic crystal fiber gyro MPOS calculates the deflecting angle first derivative of carrier coordinate system m ' and m systems, δ KG, δ G be respectively three-axis integrative
Optical fibre gyro scale coefficient error and installation error coefficient,It drifts about for three-axis integrative optical fibre gyro, δ rms、δvmsRespectively phase
To site error, relative velocity error, δ KA×, δ A × is respectively accelerometer scale coefficient error and installation error coefficient,For accelerometer bias.
In one embodiment, the multinode distribution space-time datum device of the disclosure further includes：Prediction module is (in figure
It is not shown), for being believed by a set of photon crystal optical fiber gyroscope MPOS host node high precision position information measured and posture
Breath, ten three-axis integrative optical fibre gyro SIMU measure child node angular speed and specific force.
A kind of multinode distribution space-time datum device provided by the invention, including a set of high-precision photonic crystal fiber
Gyro master site attitude system (MPOS), is based on ten low sub- Inertial Measurement Units of precision three-axis integrative optical fibre gyro (SIMU)
The flexible base line measurement component and distributed data processing computer of fiber grating/polyphaser.First with ten three-axis integratives
Optical fibre gyro SIMU measures child node angular speed and specific force, using multinode relative spatial information calculation method, calculates child node
Relative movement parameters.Relative spatial information error equation is established simultaneously, and determines system state equation.Then, using based on light
The flexible base line measurement component of fine grating/polyphaser resolves flexible lever arm deformation data, utilizes high-precision photonic crystal fiber
The high precision position of gyro MPOS outputs, posture, structure system quantities measure, and each three-axis integrative optical fiber is obtained by Transfer Alignment
The local state of gyro SIMU is estimated.Finally, using global information fusion method, the accurate survey of multinode space-time datum is realized
Amount.
For the multinode distribution space-time datum device for being more clearly understood with being proposed with the disclosure, to the device
Carry out example.It should be noted that the protection domain of the disclosure is not limited to following example.
Fig. 3 is the structural schematic diagram of the multinode distribution space-time datum device of one embodiment of the invention.Specifically,
As shown in figure 3, a kind of multinode distribution space-time datum system includes a set of high-precision photon crystal optical fiber gyroscope MPOS, ten
A low precision three-axis integrative optical fibre gyro SIMU, the flexible base line measurement component based on fiber grating/polyphaser and distributed number
According to processing computer.Child node angular speed and specific force are measured first with three-axis integrative optical fibre gyro SIMU, using multinode phase
To spatial information calculation method, child node relative position, relative velocity, relative attitude are calculated.Establish relative spatial information simultaneously
Error equation adds child node the relative position error, relative velocity error, relative attitude error, SIMU gyroscopic drifts, SIMU
Speedometer biasing is chosen for quantity of state, determines system state equation.Then, the flexible base based on fiber grating/polyphaser is utilized
Line measuring part resolves flexible lever arm deformation data, and flexible lever arm compensation is carried out to the high precision position of MPOS outputs, posture.
Using the matching way of position+posture, system measurements equation is established, three-axis integrative optical fibre gyro is obtained by Transfer Alignment
The local state of SIMU is estimated.Finally, motion state in each node time-space domain of flexible lever arm flex motion model construction is utilized
Correlation realizes the accurate measurement to flexible lever arm multinode distribution space-time datum by global information fusion method.
Multinode relative spatial information calculation method includes relative attitude renewal equation, relative position renewal equation, opposite
Speed renewal equation.Relative spatial information error equation includes relative attitude error equation, the relative position error equation, opposite
Velocity error equation.
Definition high-precision photon crystal optical fiber gyroscope MPOS carrier coordinate systems are m systems, three-axis integrative optical fibre gyro SIMU's
Carrier coordinate system is s systems.Angle Position relationship of the s systems with respect to m systems, i.e. relative attitude Eulerian angles β are indicated using one group of Eulerian anglesx、
βy、βz, then relative attitude matrix be：
If the rotation angular speed of relative inertness coordinate system i systems of m systems isThe angle of rotation of relative inertness coordinate system i systems of m systems
Rate isThen there is relationship：
In formula,Expression of the rotation angular speed in m systems for s systems relative to m systems,Respectively
ForAntisymmetric matrix.Formula (3) the right and left is multiplied simultaneouslyAnd it willIt substitutes into, it can
Obtain the relative attitude differential equation：
In known relative attitude Eulerian angles initial value, i.e.,Initial value it is known in the case of, in real time more using formula (4)
Cenotype is to attitude matrix.It enablesFormula (4) expansion is represented by：
Due toFor unit orthogonal matrix, i.e.,Thus 3 equations can be established, are built using formula (5)
A differential equation is found, then 9 equations are represented by：
Due to the influence of flexible lever arm, the Relative position vector r between the carrier coordinate system m systems of master subsystem, s systemsmsNo
It is changeless again, but deformed with deflection deformation.It is r that main system, which is defined, in the position vector of inertial systemm, son
System is r in the position vector of inertial systems, as shown in figure 4, then there is geometrical relationship:
rs=rm+rms (7)
(7) are sought into first derivative, can be obtained：
Second dervative is asked to (8), can be obtained
By master subsystem specific force equation：
Formula (10) is substituted into formula (9), and is enabledWherein vmsFor relative velocity, relative velocity renewal equation
For
Relative position renewal equation is
The precision of distributed POS main systems is generally higher by the 1-2 orders of magnitude compared with subsystem, it is believed that the measurement of main system
Error is negligible, mainly considers sub-system error.It is by the calculated relative attitude matrix of formula (4)Wherein m ' is
MPOS calculates carrier coordinate system, a low-angle transformation is differed with m systems, i.e.,
In formula, μ photon crystal optical fiber gyroscopes MPOS calculates the deflecting angle of carrier coordinate system m ' and m systems.Consider that SIMU's is used
Formula (4) both sides are taken transposition, can obtained by property device error：
In formula,For MPOS gyro output valves,ForAntisymmetric matrix,It, can for SIMU gyro output valves
It is expressed asδKG, δ G be respectively three-axis integrative optical fibre gyro scale coefficient error and installation
Error coefficient,It drifts about for three-axis integrative optical fibre gyro.Formula (4) and formula (14) are substituted into formula (13), opposite appearance can be obtained
6 state error equations：
In formula,The deflecting angle first derivative of carrier coordinate system m ' and m systems are calculated for photon crystal optical fiber gyroscope MPOS.
It defines SIMU accelerometers and exports specific forceδ K in formulaA× it is acceleration
Meter scale coefficient error, δ A × it is accelerometer fix error angle.Since subsystem accelerometer output specific force is there are error,
Formula (11) can be written as：
In formula,For three-axis integrative optical fibre gyro SIMU specific forces,For photon crystal optical fiber gyroscope MPOS specific forces.It will be public
Formula (16) is subtracted each other with formula, and defines δ vms=v 'ms-vms、δrms=rm′s-rms, relative velocity error equation can be obtained：
In formula, δ rms、δvmsRespectively the relative position error, relative velocity error,For relative velocitySingle order lead
Number, δ KA×, δ A × is respectively accelerometer scale coefficient error and installation error coefficient,For accelerometer bias.
The relative position error equation：
In formula,For relative positionFirst derivative.
The principle of the present invention is that a kind of multinode distribution space-time datum system utilizes a set of high-precision photonic crystal fiber
Gyro MPOS, ten three-axis integrative optical fibre gyro SIMU, the flexible base line measurement component based on fiber grating/polyphaser, distribution
Formula data processing computer.Principle, fiber grating/polyphaser displacement measurement principle based on strapdown resolving, when realizing multinode
The accurate measurement of space base standard.
The advantages of the present invention over the prior art are that a kind of multinode distribution space-time datum system includes a set of
High-precision photon crystal optical fiber gyroscope MPOS, ten three-axis integrative optical fibre gyro SIMU, based on the soft of fiber grating/polyphaser
Property base line measurement component and distributed data processing computer, compare existing high precision position attitude system, can accurately obtain
Take the multinode mission payload space-time datum being distributed on flexible lever arm and relative spatial information.
Those skilled in the art can be understood that the embodiment of the present invention technical solution can by software and/
Or hardware is realized." unit " in this specification is to refer to complete independently or with other component coordinate complete specific function
Software and/or hardware, wherein hardware for example can be that (Field- Programmable Gate Array, scene can by FPGA
Program gate array), IC (Integrated Circuit, integrated circuit) etc..
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
The step of above-mentioned method for being used to handle touch data is realized when sequence is executed by processor.Wherein, computer readable storage medium
It can include but is not limited to any kind of disk, including floppy disk, CD, DVD, CD-ROM, mini drive and magneto-optic disk,
(including molecule is deposited for ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory device, magnetic or optical card, nanosystems
Reservoir IC), or it is suitable for any kind of medium or equipment of store instruction and/or data.
The embodiment of the present invention additionally provides a kind of computer equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the method for handling touch data is realized when processor executes program
Step.In embodiments of the present invention, processor is the control centre of computer system, can be the processor of physical machine, also may be used
To be the processor of virtual machine.
It is described above to be merely a preferred embodiment of the present invention, it is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of multinode distribution space-time datum method, which is characterized in that include the following steps：
Child node relative movement parameters are calculated by multinode relative spatial information calculation method；
Relative spatial information error equation is established, and determines system state equation；
Flexible lever arm deformation data is resolved by the flexible base line measurement component based on fiber grating or polyphaser；
By the photon crystal optical fiber gyroscope MPOS location informations exported and posture information, system measurements equation is established, and pass through
Transfer Alignment obtains the local state estimation of three-axis integrative optical fibre gyro SIMU；
Pass through the correlation of motion state in each node time-space domain of flexible lever arm flex motion model construction；
By global information fusion method, the accurate measurement to flexible lever arm multinode distribution space-time datum is realized.
2. according to the method described in claim 1, it is characterized in that, further including：Pass through a set of photon crystal optical fiber gyroscope MPOS
The host node high precision position information and posture information of measurement, ten three-axis integrative optical fibre gyro SIMU measure child node angular speed
And specific force.
3. according to the method described in claim 1, it is characterized in that, the multinode relative spatial information calculation method, including：
Relative attitude renewal equationRelative position renewal equationRelative velocity update side
JourneyIn formulaFor relative attitude matrixSingle order
Derivative,For the rotation angular speed of photon crystal optical fiber gyroscope MPOS carrier coordinate system relative inertness coordinate systems,For three axis one
The rotation angular speed of body optical fibre gyro SIMU carrier coordinate system relative inertness coordinate systems,For relative positionFirst derivative,For relative velocityFirst derivative,For three-axis integrative optical fibre gyro SIMU specific forces,For photon crystal optical fiber gyroscope
MPOS specific forces.
4. according to the method described in claim 1, it is characterized in that, the relative spatial information error approach, including：
Relative attitude error equation
The relative position error equationRelative velocity error equationIn formulaFor light
Photonic crystal fiber gyro MPOS calculates the deflecting angle first derivative of carrier coordinate system m ' and m systems, δ KG, δ G be respectively three-axis integrative
Optical fibre gyro scale coefficient error and installation error coefficient,It drifts about for three-axis integrative optical fibre gyro, δ rms、δvmsRespectively phase
To site error, relative velocity error, δ KA×, δ A × is respectively accelerometer scale coefficient error and installation error coefficient,
For accelerometer bias.
5. a kind of computer readable storage medium, wherein be stored with computer program, institute on the computer readable storage medium
It states and realizes method according to any one of claims 1-4 when computer program is executed by processor.
6. a kind of multinode distribution space-time datum device, which is characterized in that including：
First resolves module, for calculating child node relative movement parameters by multinode relative spatial information calculation method；
First establishing equation module for establishing relative spatial information error equation, and determines system state equation；
Second resolves module, for resolving flexible lever arm shape by the flexible base line measurement component based on fiber grating or polyphaser
Become information；
Second equation establishes module, and location information and posture information for being exported by photon crystal optical fiber gyroscope MPOS are built
Erection system measurement equation, and estimated by the local state of Transfer Alignment acquisition three-axis integrative optical fibre gyro SIMU；
Module is built, for the correlation by motion state in each node time-space domain of flexible lever arm flex motion model construction；
Measurement module, for by global information fusion method, realizing the essence to flexible lever arm multinode distribution space-time datum
Really measure.
7. device according to claim 6, which is characterized in that further include：Prediction module, for passing through a set of photonic crystal
The host node high precision position information and posture information that optical fibre gyro MPOS is measured, ten three-axis integrative optical fibre gyro SIMU are measured
Child node angular speed and specific force.
8. device according to claim 6, which is characterized in that the multinode relative spatial information calculation method, including：
Relative attitude renewal equationRelative position renewal equationRelative velocity update side
JourneyIn formulaFor relative attitude matrixSingle order
Derivative,For the rotation angular speed of photon crystal optical fiber gyroscope MPOS carrier coordinate system relative inertness coordinate systems,For three axis one
The rotation angular speed of body optical fibre gyro SIMU carrier coordinate system relative inertness coordinate systems,For relative positionFirst derivative,For relative velocityFirst derivative,For three-axis integrative optical fibre gyro SIMU specific forces,For photon crystal optical fiber gyroscope
MPOS specific forces.
9. device according to claim 6, which is characterized in that the relative spatial information error approach, including：
Relative attitude error equation
The relative position error equationRelative velocity error equationIn formulaFor light
Photonic crystal fiber gyro MPOS calculates the deflecting angle first derivative of carrier coordinate system m ' and m systems, δ KG, δ G be respectively three-axis integrative
Optical fibre gyro scale coefficient error and installation error coefficient,It drifts about for three-axis integrative optical fibre gyro, δ rms、δvmsRespectively phase
To site error, relative velocity error, δ KA×, δ A × is respectively accelerometer scale coefficient error and installation error coefficient,
For accelerometer bias.
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